A comparative experimental study of robust sliding mode control strategies for underactuated systems
This paper presents a comprehensive comparative study for the tracking control of a class of underactuated nonlinear uncertain systems. A given nonlinear model of the underactuated system is, at first stage, transformed into an input output form and the driving applied control input of the transfo...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English English English |
| Published: |
Institute of Electrical and Electronics Engineers Inc.
2018
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| Subjects: | |
| Online Access: | http://irep.iium.edu.my/70742/ http://irep.iium.edu.my/70742/ http://irep.iium.edu.my/70742/ http://irep.iium.edu.my/70742/1/70742_A%20Comparative%20Experimental%20Study%20of%20Robust_article%20vol.%206.pdf http://irep.iium.edu.my/70742/2/70742_A%20Comparative%20Experimental%20Study%20of%20Robust_scopus_vol.%206.pdf http://irep.iium.edu.my/70742/3/70742_A%20Comparative%20Experimental%20Study%20of%20Robust_wos_vol.%206.pdf |
| Summary: | This paper presents a comprehensive comparative study for the tracking control of a class
of underactuated nonlinear uncertain systems. A given nonlinear model of the underactuated system is,
at first stage, transformed into an input output form and the driving applied control input of the transformed
system is then designed via four sliding mode control strategies, i.e., conventional first order sliding mode
control, second order sliding mode, fast terminal sliding mode, and integral sliding mode. At second
stage, a ball and beam system is considered and the aforementioned four control design strategies are
experimentally implemented. A comprehensive comparative study of the simulation and experimental results
is then conducted which take into account the tracking performance, i.e., settling time, overshoots, robustness
enhancement, chattering reduction, sliding mode convergences, and control efforts. |
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